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• node_id: Identification string of the middleware instance in the DDS network
• simulated_time: True if the current setup uses simulated time, else false
• middleware_domain: Domain ID for communication between middleware and HLC via shared memory, default is 1
• wait_for_start: Whether the middleware should wait for the LCC's start signal, should be true (false only for debugging purposes)
  
• vehicle_id: Single ID of a vehicle the middleware is supposed to be responsible for
• vehicle_ids: IDs of the vehicles the HLC(s) that the middleware 'controls' are responsible for (usually just one ID)
  
• vehicle_amount: Set amount of vehicles instead of vehicle ID, sets IDs 1 - vehicle_amount (restricted to 256)
• dds_domain: Domain ID of the domain in which the LCC, vehicle etc. participate
  
• domain_number: Local domain ID of the middleware and the HLC
  
• dds_initial_peer: Should be explained in Lab Control Center (Usage) 
  

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There are some steps involved in using the Middleware after it has been started. They are mentioned below and are further elaborated in the Matlab Tutorial. Even if you use another programming language, you can use that tutorial as an implementation guideline (as DDS communication should not depend on the programming language).

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